Nuclear reactor pressure vessels are often required regular inspection and maintenance in order to ensure the safety of the reactors. Failing to carry out proper maintenance could cause severe casualty. The usual way of carrying out inspection in these hazardous environments is using long reach fixed base manipulators. However, these manipulators suffer from low payload capacity and relatively ...

Problem Description SINTEF and NTNU are, together with StatoilHydro, investigating how to remotely control operations on offshore oil platforms by employing robots. One of the key challenges for remote control of offshore oil platforms is how to endow an onshore operator with the right amount and type of information so that the operator can remotely control the various operations needed to be c...

This paper introduces an adaptive sliding mode controller design based on fuzzy compensation for efficient robotic manipulator tracking control. work of Adaptive Fuzzy Controller control principles Robotic Manipulators. In the work, algorithm is proposed robot manipulators. The system uses a set rules, parameters which are modified in real-time by laws, to approximate unknown nonlinearities. ma...

A sliding mode control algorithm combined with an adaptive scheme, which is used to estimate the unknown parameter bounds, is developed for the trajectory control of robot manipulators. Simulation results show the validity of accurate tracking capability and robust performance.

This paper addresses the application of fault trees to the analysis of robot manipulator reliability and fault tolerance. Although a common and useful tool in other applications, fault trees have only recently been applied to robots. In addition, most of the fault tree analyses in robotics have focused on qualitative, rather than quantitative, analysis. Robotic manipulators present some special...

An algorithmic platform is proposed in this paper to randomly generate and validate a set of basic morphologies of planar robotic manipulators, with combinations of serially connected links and loops. To design a robot for specified tasks of following a trajectory and possessing a prescribed stiffness, there are possibilities of working with several hybrid morphologies. Normally, one such basic...